/**
  ******************************************************************************
  * @file           : shoot_task.h
  * @author         : Tessia
  * @brief          : None
  * @attention      : None
  * @date           : 2024/1/18
  ******************************************************************************
  */



#ifndef AERIAL_GIMBAL_SHOOT_TASK_H
#define AERIAL_GIMBAL_SHOOT_TASK_H

#include "pwm_motor_driver.h"
#include "DJI_motor_driver.h"
#include "motor_driver.h"
#include "drv_can_dr16.h"
#include "communicate_task.h"

#define HEAT_DEBUG 0

enum bullet_feed_motor_status{
    init = 0,
    normal = 1,
    reverse = 2,
};

const float FEED_MOTOR_NORMAL_SPEED = 0.4;
const float FEED_MOTOR_REVERSE_SPEED = -0.2;
const float ONE_BULLET_ROUNDS = (36.f / 10.f); //前面是齿轮比，后面减速比和转一圈的弹丸数
const uint16_t MIN_FIRE_INTERVAL = 20;

#ifdef __cplusplus
extern "C" {
#endif
//C
void friction_motor_task(void *argument);
void bullet_feed_task(void *argument);

#ifdef __cplusplus
}
#endif
//C++

#endif //AERIAL_GIMBAL_SHOOT_TASK_H
